WO2023195150A1

WO2023195150A1 - Robot device

Info

Publication number: WO2023195150A1
Application number: PCT/JP2022/017336
Authority: WO
Inventors: 啓祐名桐
Original assignee: 株式会社Fuji
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2023-10-12

Abstract

This robot device is used in an ultrasonic diagnosis system for ultrasonically diagnosing an object. The robot device comprises an arm for holding and moving an ultrasonic probe, and an emission unit capable of emitting, at an object, light indicating the range of movement of the ultrasonic probe.

Description

robot equipment

This specification discloses a robotic device.

Conventionally, a robot device is known that performs ultrasound diagnosis of a target object by irradiating the target object with ultrasound while changing the posture of an ultrasound probe using a robot arm. For example, Patent Document 1 discloses a robot device that displays an ultrasonic irradiation range on a monitor.

Japanese Patent Application Publication No. 2018-42900

In such a robot device, a worker may operate the robot arm in order to register the movement trajectory of the ultrasound probe. Such an operation is performed, for example, as follows. That is, the operator sets the robot device so that the object is included in the movement range of the ultrasound probe. Then, the operator registers the movement trajectory of the ultrasound probe so that the object can be diagnosed by ultrasound. When performing a series of operations, the operator often has to grasp the movement range of the ultrasonic probe based on his or her senses before operating the robot arm. Another possibility is to display the movement range of the ultrasound probe on a monitor, but the operator must visually check the monitor to confirm the movement range, and must operate the robot arm while constantly checking the target object. Can not do it. As described above, when a worker operates a robot arm, it is desired to improve the work efficiency.

The main purpose of the present disclosure is to improve workability when a worker operates an arm.

The robot device of the present disclosure includes:
A robot device used in an ultrasonic diagnostic system for ultrasonically diagnosing a target object,
an arm that holds and moves an ultrasound probe;
an irradiation unit capable of irradiating the object with light indicating a movement range of the ultrasound probe;
The purpose is to have the following.

In this robot device, the irradiation unit irradiates the object within the movement range of the ultrasound probe. Therefore, the operator can grasp the movement range of the ultrasonic probe without relying on his senses, and can operate the arm while constantly visually observing the object. Therefore, the work efficiency when the operator operates the arm is improved.

1 is a configuration diagram showing an outline of the configuration of an ultrasound diagnostic system 10. FIG. FIG. 2 is a front view of the robot device 20. FIG. FIG. 2 is a side view of the robot device 20. FIG. FIG. 2 is an explanatory diagram showing an example of an ultrasound diagnostic procedure. It is an explanatory view showing how

irradiation units

61a and 61b irradiate light La and Lb.

Next, embodiments for carrying out the invention of the present disclosure will be described with reference to the drawings.

FIG. 1 is a configuration diagram showing an outline of the configuration of an ultrasound diagnostic system 10. FIG. 2 is a front view of the robot device 20. FIG. 3 is a side view of the robot device 20. Note that illustration of the cover 60 is omitted in FIG. 3 . Further, in FIGS. 1 to 3, the left-right direction is the X-axis direction (in FIG. 3, the direction perpendicular to the paper surface), the front-rear direction is the Y-axis direction (in FIG. 2, the direction perpendicular to the paper surface), and the up-down direction is the Z-axis direction.

The ultrasound diagnostic system 10 of this embodiment holds an ultrasound probe 101 at the tip of a robot arm 21, and operates the robot device 20 so that the ultrasound probe 101 is pressed against the body surface of the patient P. Obtain a sound wave echo image. This ultrasonic diagnostic system 10 is used for catheter treatment, for example. The operator (operator) who operates the guide wire of the catheter presses the ultrasound probe 101 against the body surface of the patient P, and recognizes the positional relationship between the tip of the guide wire and the blood vessel from the obtained ultrasound echo image. By advancing the guide wire, it is possible to accurately pass the guide wire through the center of the occluded or stenosed region of the blood vessel.

The ultrasound diagnostic system 10 includes an ultrasound diagnostic device 100 and a robot device 20.

As shown in FIG. 1, the ultrasound diagnostic device 100 includes an ultrasound probe 101 and an ultrasound diagnostic device main body 110 connected to the ultrasound probe 101 via a cable 102. The ultrasound diagnostic device main body 110 includes an ultrasound diagnostic control section that controls the entire device, an image processing section that processes the received signal from the ultrasound probe 101 to generate an ultrasound echo image, and an ultrasound diagnostic control section that controls the entire device. and an image display section for displaying images.

As shown in FIGS. 1 to 3, the robot device 20 includes a base 25, a robot arm 21 installed on the base 25, and a height adjustment mechanism 45 that adjusts the height of the robot arm 21 by manual operation. This medical robot includes a cover 60, and

irradiation units

61a and 61b. Furthermore, the robot device 20 also includes a control device and the like (not shown).

As shown in FIGS. 1 to 3, casters 26 with stoppers are attached to the four corners of the back surface of the base 25. The robot device 20 can be freely moved by casters 26. Furthermore, locking portions 28 are provided at multiple locations (for example, three locations) on the back surface of the base 25 to protrude vertically downward by pressing down on the lever 27 to lock (fix) the robot device 20 immovably. .

As shown in FIG. 1, the robot arm 21 includes a first arm 22, a first arm drive device 35, a second arm 23, a second arm drive device 36, a base 24, and a rotating three-axis mechanism 50. , and a posture holding device 37.

The base end of the first arm 22 is connected to the base 24 via a first joint shaft 31 that extends in the vertical direction (Z-axis direction). The first arm drive device 35 includes a motor, an encoder, and an amplifier. The rotating shaft of this motor is connected to the first joint shaft 31 via a reduction gear (not shown). The first arm drive device 35 rotates (swivels) the first arm 22 along a horizontal plane (XY plane) using the first joint shaft 31 as a fulcrum by rotationally driving the first joint shaft 31 with a motor. The encoder is configured as a rotary encoder that is attached to the rotating shaft of the motor and detects the amount of rotational displacement of the motor. The amplifier is a drive unit that drives a motor by switching a switching element.

The base end of the second arm 23 is connected to the distal end of the first arm 22 via a second joint shaft 32 that extends in the vertical direction. The second arm drive device 36 includes a motor, an encoder, and an amplifier. The rotating shaft of the motor is connected to the second joint shaft 32 via a speed reducer (not shown). The second arm driving device 36 rotates (swivels) the second arm 23 along a horizontal plane about the second joint shaft 32 by rotationally driving the second joint shaft 32 with a motor. The encoder is configured as a rotary encoder that is attached to the rotating shaft of the motor and detects the amount of rotational displacement of the motor. The amplifier is a drive unit that drives a motor by switching a switching element.

The base 24 is provided so as to be movable up and down relative to the base 25 by a lifting device 40 installed on the base 25. As shown in FIG. 3, the lifting device 40 includes a first slider 41 fixed to the base 24, a first guide member 42 extending in the vertical direction and guiding movement of the first slider 41, and a first guide member 42 extending in the vertical direction. A first ball screw shaft 43 (elevating shaft) that is screwed into a ball screw nut (not shown) fixed to the first slider 41 while being extended, a motor that rotationally drives the first ball screw shaft 43, and an encoder. , and an amplifier that drives the motor. The lifting device 40 moves the base 24 fixed to the first slider 41 up and down along the first guide member 42 by rotationally driving the first ball screw shaft 43 using a motor. The encoder is configured as a linear encoder that detects the vertical position (elevating position) of the first slider 41 (base 24).

As shown in FIG. 3, the three-axis rotating mechanism 50 is connected to the tip of the second arm 23 via a posture maintaining shaft 33 that extends in the vertical direction. The three-axis rotating mechanism 50 includes a first rotating shaft 51, a second rotating shaft 52, and a third rotating shaft 53 that are orthogonal to each other, a first rotating device 55 that rotates the first rotating shaft 51, and a second rotating shaft 52. A second rotation device 56 that rotates the third rotation shaft 53 and a third rotation device 57 that rotates the third rotation shaft 53 are provided. The first rotating shaft 51 is supported in a position orthogonal to the position maintaining shaft 33. The second rotating shaft 52 is supported in a position perpendicular to the first rotating shaft 51 . The third rotating shaft 53 is supported in a position orthogonal to the second rotating shaft 52. The first rotating device 55 includes a motor that rotationally drives the first rotating shaft 51, an encoder that is attached to the rotating shaft of the motor and detects the amount of rotational displacement of the motor, and an amplifier that drives the motor. The second rotating device 56 includes a motor that rotationally drives the second rotating shaft 52, an encoder that is attached to the rotating shaft of the motor and detects the amount of rotational displacement of the motor, and an amplifier that drives the motor. The third rotating device 57 includes a motor that rotationally drives the third rotating shaft 53, an encoder that is attached to the rotating shaft of the motor and detects the amount of rotational displacement of the motor, and an amplifier that drives the motor. Further, the third rotating shaft 53 is provided with a holding portion 70 for holding the ultrasound probe 101. The holding part 70 is a part that holds the ultrasound probe 101 so as to be located coaxially with the third rotating shaft 53.

The posture holding device 37 maintains the posture of the rotating three-axis mechanism 50 (orientation of the first rotating shaft 51) in a constant direction regardless of the postures of the first arm 22 and the second arm 23. The posture holding device 37 includes a motor, an encoder, and an amplifier. The rotating shaft of the motor is connected to the posture maintaining shaft 33 via a reduction gear (not shown). The posture maintaining device 37 maintains the posture based on the rotation angle of the first joint shaft 31 and the rotation angle of the second joint shaft 32 so that the axial direction of the first rotation shaft 51 is always in the left-right direction (X-axis direction). A target rotation angle of the holding shaft 33 is set, and the motor is drive-controlled so that the posture holding shaft 33 reaches the target rotation angle. This makes it possible to independently control translational motion in three directions and rotational motion in three directions, thereby facilitating control.

The robot device 20 of the present embodiment can perform translational motion in three directions, that is, the X-axis direction, the Y-axis direction, and the Z-axis direction, by the first arm drive device 35, the second arm drive device 36, and the lifting device 40, and three rotational axes. In combination with the rotation movement of the mechanism 50 in three directions around the X-axis (pitching), around the Y-axis (rolling), and around the Z-axis (yawing), the ultrasound probe 101 can be moved in any posture and in any direction within the movable range. can be moved to position.

As shown in FIG. 3, the height adjustment mechanism 45 includes a second slider 46 fixed to the first guide member 42 of the lifting device 40, and a second slider 46 fixed to the base 25 and extending in the vertical direction. 46, and a second ball screw shaft 48 (elevating shaft) that extends in the vertical direction and is screwed into a ball screw nut (not shown) fixed to the second slider 46. ) and an operation handle 49 connected to the second ball screw shaft 48 via a power transmission mechanism (bevel gear). The height adjustment mechanism 45 rotates the second ball screw shaft 48 by manually operating the operating handle 49, thereby moving the first guide member 42 of the lifting device 40 fixed to the second slider 46 to the second guide member 47. Move up and down along. The base end of the robot arm 21 is fixed to the base 24, and the base 24 is supported by the first guide member 42, so by moving the first guide member 42 up and down by the height adjustment mechanism 45, The height of the robot arm 21 can be adjusted. Thereby, for example, the height of the robot arm 21 can be adjusted according to the height of the bed B on which the patient P to be diagnosed with ultrasound lies.

The cover 60 is a cover member that covers the lifting device 40. The cover 60 is fixed to the base 25 as shown in FIGS. 1 and 2. The cover 60 is arranged in front of the lifting device 40 and the height adjustment mechanism 45.

The

irradiation units

61a and 61b are units that irradiate the body surface of the patient P with lights La and Lb (see FIG. 5), which indicate the boundaries of the movement range R of the ultrasound probe 101 held by the robot arm 21, respectively. Here, the movement range R is a range set slightly narrower than the movement range of the ultrasound probe 101. The lights La and Lb are linear lights and indicate the boundaries of the movement range R in the left and right direction. The

irradiation units

61a and 61b are provided on the front surface of the cover 60. As shown in FIG. 2, the irradiation unit 61a is installed on the right side of the robot arm 21 when the cover 60 is viewed from the front. As shown in FIG. 2, the irradiation unit 61b is installed on the left side of the robot arm 21 when the cover 60 is viewed from the front. The

irradiation units

61a and 61b are configured as, for example, a laser module or an LED module.

Next, an example of the use of the robot device 20 configured in this way will be described using FIGS. 4 and 5. FIG. 4 is an explanatory diagram showing an example of an ultrasound diagnostic procedure. FIG. 5 is an explanatory diagram showing how the

irradiation units

61a and 61b irradiate the lights La and Lb. This procedure is performed by an operator. Note that the patient P is lying on the bed B when the operator performs this procedure.

When this procedure is started, the operator operates a switch (not shown) to irradiate the lights La and Lb from the

irradiation units

61a and 61b (step S100). Next, as shown in FIG. 5, the operator moves the robot device 20 so that the affected area of the patient P is included between the light La and the light Lb (step S110).

Next, the worker locks the robot device 20 (step S120). Specifically, the operator locks the stopper of the caster 26. The operator then pushes down the lever 27. As a result, the lock portion 28 projects vertically downward from the base 25 and locks the robot device 20 so that it cannot move.

Next, the operator adjusts the height of the robot arm 21 (step S130). Specifically, the operator rotates the operating handle 49 to adjust the robot arm 21 to a height corresponding to the height of the bed B.

Next, the operator performs direct teaching (step S140). Direct teaching is a task in which a worker manually operates the robot arm 21 and registers the movement trajectory of the ultrasound probe 101 in the control device of the robot device 20. At this time, the

irradiation units

61a and 61b irradiate the body surface of the patient P with the lights La and Lb as the boundaries of the movement range R of the ultrasound probe 101. Therefore, when performing direct teaching, the operator can grasp the boundaries of the movement range R of the ultrasound probe 101 without relying on his senses, and can operate the robot arm 21 while constantly visually observing the patient P. can.

Then, the operator starts ultrasonic diagnosis (step S150). When ultrasonic diagnosis is started, the control device of the robot device 20 controls various members so that the ultrasonic probe 101 moves according to the movement locus registered in S150 in accordance with instructions input by the operator. The image processing unit of the ultrasound diagnostic apparatus main body 110 processes the received signal from the ultrasound probe 101 to generate an ultrasound echo image. The ultrasound diagnosis control section of the ultrasound diagnostic apparatus main body 110 controls the image display section so that the ultrasound echo image is displayed. The operator diagnoses the patient P based on the echo image displayed on the image display section. After step S150, the operator ends this procedure.

Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be explained. That is, the robot device 20 of this embodiment corresponds to the robot device of the present disclosure, the robot arm 21 corresponds to an arm, the

irradiation units

61a and 61b correspond to an irradiation unit, the base 24 corresponds to a base, and the cover 60 corresponds to a base. corresponds to the cover. Furthermore, the patient P corresponds to the object.

In the robot device 20 described above, the

irradiation units

61a and 61b irradiate the patient P within the movement range R of the ultrasound probe 101. Therefore, the operator can grasp the movement range R of the ultrasound probe 101 without relying on his senses, and can operate the robot arm 21 while constantly visually observing the patient P. Therefore, the workability when the operator operates the robot arm 21 is improved.

Further, the robot device 20 is a medical robot that works on the patient P, and the

irradiation units

61a and 61b emit light La and rays so that the affected area of the patient P is included in the movement range R of the ultrasound probe 101. Irradiate with Lb. Therefore, the operator can easily set the robot device 20 so that the affected area of the patient P is included within the movement range R of the ultrasound probe 101, which is particularly advantageous.

Further, the robot device 20 includes a base 24 that supports the robot arm 21 and a cover 60 that covers the base 24, and the

irradiation units

61a and 61b are provided on the cover 60. Therefore, the light emitted from the

irradiation units

61a and 61b becomes difficult to overlap the robot arm 21.

Furthermore, in the robot device 20, the

irradiation units

61a and 61b are installed on both left and right sides of the front surface of the cover 60 with the robot arm 21 in between. Therefore, the boundaries of the movement range R of the ultrasound probe 101 can be displayed at two locations.

Further, the

irradiation units

61a and 61b on both the left and right sides irradiate the body surface of the patient P with linear lights La and Lb as boundaries of the movement range R. In that case, the boundary of the movement range R can be represented as two linear lights, making it easier for the operator to understand the movement range R of the ultrasound probe 101.

It goes without saying that the present disclosure is not limited to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the embodiment described above, the robot device 20 is configured as a seven-axis articulated robot capable of translational movement in three directions and rotational movement in three directions. However, the number of axes may be any number. Further, the robot device 20 may be configured by a so-called vertically articulated robot, horizontally articulated robot, or the like.

In the embodiment described above, the robot device 20 has the

irradiation units

61a and 61b. However, the robot device 20 may include only one of the irradiation unit 61a and the irradiation unit 61b. Alternatively, the robot device 20 may have one or two other irradiation units that irradiate linear light in a direction perpendicular to the lights La and Lb. The light emitted by another irradiation unit indicates the boundary of the movement range R in the front-rear direction. In this case, another irradiation unit may be held by an irradiation unit holding member provided in front of the robot arm 21. The irradiation unit holding member is provided separately from the robot arm 21 and the cover 60, for example.

In the embodiment described above, the

irradiation units

61a and 61b irradiate two linear lights that are parallel to each other. However, the body surface of the patient P may be irradiated with rectangular or elliptical light corresponding to the movement range R of the ultrasound probe 101 using a plurality of laser modules or a plurality of LED modules.

The present disclosure can be used in the manufacturing industry of ultrasonic diagnostic equipment and robots, etc.

10 Ultrasonic diagnostic system, 20 Robot device, 21 Robot arm, 22 First arm, 23 Second arm, 24 Base, 25 Base, 26 Caster, 27 Lever, 28 Lock part, 31 First joint axis, 32 Second joint axis, 33 posture holding axis, 35 first arm drive device, 36 second arm drive device, 37 posture holding device, 40 lifting device, 41 first slider, 42 first guide member, 43 first ball screw shaft, 45 height adjustment mechanism, 46 second slider, 47 second guide member, 48 second ball screw shaft, 49 operation handle, 50 three-axis rotation mechanism, 51 first rotation axis, 52 second rotation axis, 53 third rotation Axis, 55 first rotation device, 56 second rotation device, 57 third rotation device, 60 cover, 61a, 61b irradiation unit, 70 holding part, 100 ultrasound diagnostic device, 101 ultrasound probe, 102 cable, 110 ultrasound Diagnostic device main body, B bed, La, Lb light, P patient, R movement range.

Claims

A robot device used in an ultrasonic diagnostic system for ultrasonically diagnosing a target object,
an arm that holds and moves an ultrasound probe;
an irradiation unit capable of irradiating the object with light indicating a movement range of the ultrasound probe;
A robotic device equipped with
The robot device according to claim 1,
The robot device is a medical robot that works on patients,
the object is a patient;
The irradiation unit irradiates light so that the affected area of the patient is included in the movement range of the ultrasound probe.
robotic equipment.
The robot device according to claim 1 or 2,
a base that supports the arm;
a cover that covers the base;
Equipped with
the irradiation unit is provided on the cover,
robotic equipment.
The robot device according to claim 3,
The irradiation unit is installed on both left and right sides of the front surface of the cover with the arm sandwiched therebetween.
robotic equipment.
The robot device according to claim 4,
The irradiation units on both the left and right sides irradiate the surface of the object with linear light as a boundary of the movement range,
robotic equipment.